Lower limbs rehabilitation exercise apparatus for curvilinear motion

ABSTRACT

Disclosed is a lower limbs rehabilitation exercise apparatus for curvilinear motion. The lower limbs rehabilitation exercise apparatus for curvilinear motion include: a main frame installed in an upward direction; a saddle part located at a front surface of the main frame to support a hip of a user; and a lower limbs exercise part disposed at a side of the main frame to control feet of the user to perform the curvilinear motion.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a National Stage Patent Application of PCT International Patent Application No. PCT/KR2017/011899 (filed on Oct. 26, 2017) under 35 U.S.C. §371, which claims priority to Korean Patent Application No. 10-2016-0142680 (filed on Oct. 31, 2016), which are all hereby incorporated by reference in their entirety.

BACKGROUND

The present invention relates to a lower limbs rehabilitation exercise apparatus for curvilinear motion which may be conveniently used by only an upper body of a user and be configured to perform a curvilinear motion using a straight rail.

A lower limbs rehabilitation exercise apparatus for curvilinear motion is mainly used for hemiplegia patients. In general, hemiplegia may occur due to stroke, traumatic brain injury, or cerebral palsy. The hemiplegia is a type of exercise paralysis which does not allow paralyzed muscle to generate force having a suitable size at a necessary moment. In order to cure hemiplegia patients having the above symptoms, various curing methods such as strength training, muscle conditioning training, stretching, and balance training may be used.

Nugent, etc. in 1994 performed weight-bearing training with respect to erectable stroke patients. As a result, it is reported that walking is further improved if the number of repetitions is increased.

The lower limbs rehabilitation exercise apparatus for curvilinear motion according to the present invention may be sufficiently used for patients who hurt their legs or ankles as well as the hemiplegia patients.

A first related art discloses a rehabilitation curing apparatus including: a base frame supported on a bottom; an elevation frame elevating from the base frame in a parallel state of a predetermined height; a variable jig configured to support the elevation frame while elevating at an upper portion of the base frame; an elevator installed on the base frame to elevate the elevation frame by controlling an axial width length of the variable jig; a table formed therein a rotation coupling part at a lower proper position of the table to be rotated based on an end portion of the elevation frame, a slide back plate vertically sliding to an upper side of the rotation coupling part while controlling a height and supporting an upper body of a user, formed therein with a back plate to detect a position of the slide back plate vertically moving, installed therein with left/right footboards allowing control of height at a lower side of the back plate to support and lift a weight of a user and to measure a weight of the user supported at one side of a lower limb, and formed therein with a footboard including a calf fixing part to configure a plate making contact with a calf region of the lower limbs so that knees of the user are not prevented from leaning to an inner side or an outer side of the lower limbs; a slope controller installed on the elevation frame to stand or lay down so that the table is rotated at a suitable angel based on the rotation coupling part; a control unit configured to generate joint angle data of measurement value data with respect to an angle of a joint by determining the angle of the joint from a position of the slide back plate recognized by the back plate, to generate weight data of the measurement value data with respect to the weight of the user applied to a lower limb of one side recognized by the left/right footboards, and to generate ‘result data’ based on ‘weight data and joint angle data of reference value data’ and ‘weight data and joint angle data of measurement value data’ being data with respect to a normal lower limbs; and a display unit configured to show the ‘result data’ generated by the control unit to the user.

Further, a second related art discloses a forward walking rehabilitation training device including a base provided therein with a top surface which a wheelchair may enter; a plate provided therein with a curved center part connected by a hinge and on which both feet of a user are put; a saddle part extending to a rear direction of the plate upward so that a user sits down; and a pair of handles extending to a front end of the plate upward so that both hands of the user may push the handles; and at least one support part provided between the handles to surround forward/rearward directions of a lower body of the user.

In addition, the third related art discloses a rehabilitation training device with a slider for reinforcing lower limbs: including a bed for patient including a mattress, a bed support configured to support the mattress, and a tilting means configured between the mattress and the bed support to control a rise angle of the mattress; a monitor for patient located at an upward direction of the mattress of the bed to allow a patient to confirm a rehabilitation training state and an image according to a program; a head rotation angle measuring part mounted at a head of the patient to compute an angle according to movement of the head of the patient; a head mount display part installed at eyes of the patient to display various information or virtual reality; a grasp member provided at one side of the mattress of the bed to be grasped by the patient; the slider provided at a bottom end of the mattress of the bed and including a rotating body, pedals configured at both ends of a center of the rotating body, and a housing including a fluid receiving part formed therein with an insertion hole at an end thereof to receive a part of an outer peripheral surface of the rotating body and to store friction fluid hardened by an electric signal therein, and an electromagnetic field receiving part formed at an outer periphery of the fluid receiving part and provided therein with a coil for providing an electric signal to the fluid receiving part; and a control unit configured to control a rise angle of the mattress of the bed, the monitor for patient, the head rotation angle measuring part, the head mount display part, and the slider.

SUMMARY

Since the related arts disclosed up to now may be used only when performing a very complicate preparation course, the user cannot use a rehabilitation device by only an upper body alone. Although users themselves can use a forward walking rehabilitation exercise device, the users cannot perform a walking exercise.

Accordingly, the present invention provides a lower limbs rehabilitation exercise apparatus for curvilinear motion which may be conveniently used by only an upper body of a user and allows a user to perform various rehabilitation technologies such as forward walking, walking exercise, and balance walking.

The present invention also provides a lower limbs rehabilitation exercise apparatus for curvilinear motion which guides movement of feet of a user through a straight rail and allows the same curvilinear motion as real walking of a user having healthy feet.

In an aspect, a lower limbs rehabilitation exercise apparatus for curvilinear motion is provided.

The lower limbs rehabilitation exercise apparatus for curvilinear motion includes a main frame installed in an upward direction; a saddle part disposed at a front surface of the main frame to support a hip of a user; and a lower limbs exercise part disposed at a side of the main frame to control feet of the user to perform the curvilinear motion.

Further, the lower limbs exercise part may include: a footrest on which the feet of the user put; a rail installed therein with the footrest to be freely moved; and a fixing hinge configured to fix one end of the rail hinge-fixed to a bottom.

Meanwhile, the lower limbs rehabilitation exercise apparatus for curvilinear motion of claim may further include a third driver fixed to the bottom and connected with the rail to move the rail in upward and downward directions.

Moreover, the main frame may include: a hinge shaft spaced apart from a bottom; and a frame installed upward and including a bottom end hinge-fixed to the hinge shaft.

Meanwhile, the lower limbs rehabilitation exercise apparatus for curvilinear motion may further include a first driver installed at the main frame to rotate the main frame. In detail, the main frame may include the hinge shaft spaced apart from a bottom; a frame including an upper region and a lower region extending from the hinge shaft in upward and downward directions by a predetermined length; and a first driver configured to rotate the frame based on the hinge shaft by applying external force to the hinge shaft or the upper region and the lower region.

In addition, the lower limbs exercise part may include: a footrest configured to support the feet of the user; and a pressing part disposed at the footrest to press the feet of the user placed on the footrest.

Further, the pressing part may be filled with gas or liquid.

The lower limbs rehabilitation exercise apparatus for curvilinear motion of claim may further include a chest support part located above the saddle part to support a chest of the user.

The lower limbs rehabilitation exercise apparatus for curvilinear motion may further include a connector to connect the saddle part with the chest support so that the chest support part is moved according to movement of the saddle part.

Meanwhile, the lower limbs rehabilitation exercise apparatus for curvilinear motion may further include: a pressure sensor disposed at the footrest to detect pressure applied by the feet of the user placed on the footrest; a second driver connected with the saddle part to control a height of the saddle part; and a controller configured to determine whether the user sits down the saddle part, to compare the pressure detected from the pressure sensor with a reference value to determine whether the user prepares a standing operation, and to raise the saddle part by controlling the second driver to assist the standing operation of the user.

The lower limbs rehabilitation exercise apparatus for curvilinear motion according to the present invention allows feet of a user to perform walking rehabilitation exercise by the same curvilinear motion as movement of the feet upon real walking by gradually being moved upward if a footrest goes to one end of a rail formed therein with an opposite end hinge-fixed to a bottom. Further, the present invention may prevent ankles of the user from being bent.

Moreover, users themselves can use the lower limbs rehabilitation exercise apparatus for curvilinear motion according to the present invention through a freely rotated main frame. In addition, the users can perform forward walking rehabilitation exercise through a freely rotated main frame and a saddle part.

Further, the feet of the user may be stably fixed to a footrest by air pressure of a pressing part, and the lower limbs rehabilitation exercise apparatus for curvilinear motion according to the present invention may be generally used in various shapes or sizes of the feet.

Further, the user may exactly take a forward walking pose through the pressing part.

Moreover, since only a front surface of a chest of the user is supported by a chest support part, the user can perform walking rehabilitation exercise through movement achieved during real walking.

Meanwhile, the user can perform other rehabilitation exercise such as twist of a waist by a chest support part 500.

In addition, since the chest of the user is supported by the chest support part 500, the user may stably ride and use the lower limbs rehabilitation exercise apparatus for curvilinear motion according to the present invention.

The above contents provide only a selective concept in a simplified form with respect to contents to be described in detail later. The present contents are not intended to limit main, essential characteristics, or a range of claims.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a view illustrating a low limbs exercise part according to an embodiment of the present invention.

FIG. 2 is a view illustrating the present technology according to an embodiment.

FIG. 3 is a view illustrating the present technology according to an embodiment.

FIG. 4 is a view illustrating the present technology according to an embodiment.

FIG. 5 is a view illustrating operating relationship of a main frame, a saddle part, and a chest support part of the present technology according to an embodiment.

FIG. 6 is a view illustrating another embodiment of the present technology.

DETAILED DESCRIPTION

Hereinafter, an exemplary embodiment of the present invention will be described in detail with reference to the accompanying drawings. Unless state otherwise in the specification, the same reference numbers are used throughout the specification to refer to the same or like parts. Although embodiments have been described with reference to a number of illustrative embodiments thereof, it should be understood that numerous other modifications and embodiments can be devised by those skilled in the art that will fall within the spirit and scope of the principles of this disclosure. Those skilled in the art may variously arrange, configure, combine, and design constituent elements of this disclosure, that is, constituent elements which are described and illustrated in drawings as other constituent elements. It will be understood that all of the constituent elements are clearly devised to form a part of this disclosure. In drawings, a width, a length, a thickness, or a shape of a constituent element may be exaggerated for the purpose of clarity for a plurality of layers (films), regions, and shapes.

When a component is referred to as being “arranged at” another component, the component may be directly arranged at another component or an intervening component may be present therebetween.

When a component is referred to as being “connected to” another component, the component may be directly connected to another component or an intervening component may be present therebetween.

When a component is referred to as being “formed in” another component, the component may be directly formed in another component or an intervening component may be present therebetween.

When a component is referred to as being “coupled to” another component, the component may be directly coupled to another component or an intervening component may be present therebetween.

A description of a disclosed technology is illustrative purpose only for structural and functional description, the scope and spirit of the disclosed technology should not be construed as limited to the example embodiments set forth herein. That is, the embodiment is not limited to the specific embodiment, but the embodiment includes all modifications, equivalents, and substitutes belonging to the technical scope of the embodiment without departing from the spirit of the embodiment.

As used herein, the singular forms “a,” “an” and “the” are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms “comprises” and/or “comprising,” when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.

Unless defined otherwise, the terms including technical and scientific terms used in this specification may have the meaning that can be commonly apprehended by those skilled in the art. The terms, such as the terms defined in the commonly-used dictionary, must be interpreted based on the context of the related technology and must not be interpreted ideally or excessively.

FIG. 1 is a view illustrating a low limbs exercise part according to an embodiment of the present invention. FIG. 2 is a view illustrating the present technology according to an embodiment. FIG. 3 is a view illustrating the present technology according to an embodiment. FIG. 4 is a view illustrating the present technology according to an embodiment. FIG. 5 is a view illustrating operating relationship of a main frame, a saddle part, and a chest support part of the present technology according to an embodiment. FIG. 6 is a view illustrating another embodiment of the present technology.

Hereinafter, a lower limbs rehabilitation exercise apparatus for curvilinear motion according to an exemplary embodiment of the present invention will be simply described with reference to the accompanying drawings.

Referring to FIG. 2, the lower limbs rehabilitation exercise apparatus for curvilinear motion includes a main frame 100, a saddle part 200, and a lower limbs exercise part 300. In some other embodiments, the lower limbs rehabilitation exercise apparatus for curvilinear motion may further optionally include a pressure controller 400. In some other embodiments, the lower limbs rehabilitation exercise apparatus for curvilinear motion may further include a chest support part 500. In some other embodiments, the lower limbs rehabilitation exercise apparatus for curvilinear motion may further include a connector 600. In some other embodiments, the lower limbs rehabilitation exercise apparatus for curvilinear motion may further include a first driver 700. In some other embodiments, the lower limbs rehabilitation exercise apparatus for curvilinear motion may further include a second driver 800. In some other embodiments, the lower limbs rehabilitation exercise apparatus for curvilinear motion may further include a third driver 900. In some other embodiments, the lower limbs rehabilitation exercise apparatus for curvilinear motion may further include a controller (not shown).

The main frame 100 is firstly installed in an upward direction. The upward direction means that one end is higher than an opposite end. The main frame 100 may be selectively installed therein with a saddle part 200, a chest support part 500, a handle, and a display unit to be described below.

In one embodiment, the main frame 100 includes a frame 110 which is fixed to a bottom to be installed in an upward direction. In another embodiment, the main frame 100 may be coupled with a bottom end of the main frame 100 installed in the upward direction by a hinge shaft 120 spaced apart from a bottom. Further, a first driver 700 may be hinge-coupled with a bottom end of the frame 110 in which the hinge shaft 120 is installed. Moreover, the first driver 700 may be hinge-coupled with a bottom.

In detail, the main frame 100 may be coupled with the hinge shaft 120 to be rotated based on the hinge shaft 120 by an operation of a user. Meanwhile, the main frame 100 may include the hinge shaft 120 spaced apart from a bottom; a frame including an upper region and a lower region extending from the hinge shaft 120 in upward and downward directions by a predetermined length; and a first driver 700 configured to rotate the frame 110 based on the hinge shaft 120 by applying external force to the hinge shaft 120 or the upper region and the lower region. For example, the external force may include torque or push/pull force. The first driver 70 may rotate the main frame 100 based on the hinge shaft 120 by pushing or pulling the upper region or the lower region or rotating the hinge shaft 120. Accordingly, the user may approach the lower limbs rehabilitation exercise apparatus for curvilinear motion and rotate the main frame 100 by an operation of the first driver 700 to move the saddle part 200 or a handle in a located direction of the user so that it may be easily to hold the saddle part 200 or the handle. During the above procedure, as will be described later, since the saddle part 200 may move along the main frame 100 by the second driver 800, the user may easily sit down the saddle part 200.

Meanwhile, the first driver 700 may be configured by a general cylinder. Further, the first driver 700 may be configured to allow a shaft to advance and back up through rotation of a motor. Moreover, the first driver 700 may be configured to perform various methods such as a method of connecting a motor (not shown) to the hinge shaft 120.

The saddle part 200 is located at a front surface of the main frame 100 to support a hip of the user. The saddle part 200 prevents a weight of the user from being transferred to lower limbs. In one embodiment, the saddle part 200 includes a saddle 210 to support a hip of the user. The saddle 210 may be fixed to a bottom to be located at a front surface of the main frame 100.

Meanwhile, the saddle 210 may be located at a front surface of the main frame 100 by various methods such as a method of being installed at the main frame 100. Furthermore, when the saddle 210 is installed at the main frame 100, the saddle 210 may move forward to be reduced in height.

In another embodiment, the saddle part 200 may further include a saddle guide 220 disposed at the saddle 210. The saddle guide 220 is inserted into a frame 110 of the main frame 100 to be freely moved in order to control a height of the saddle 210.

In another embodiment, the second driver 800 advancing and backing up the main frame 100 may be connected with the saddle 210 or the saddle guide 220. The second driver 800 may easily control a height of the saddle part 200. Since the saddle part 200 controlled in the height may be matched with a height of a hip when a user sits down a wheelchair, the user may stand up by holding the main frame 100. That is, the user may perform forward walking rehabilitation exercise.

Meanwhile, the second driver 800 may be installed by various methods including a method of being fixed on a ground.

The lower limbs exercise part 300 is disposed at a side of the main frame 100 and controls the movement of feet of the user. When muscular strength of lower limbs of the user is weak, the lower limbs exercise part 300 moves in a moving direction of the user to help the exercise. Conversely, the muscular strength of the lower limbs of the user is equal to or greater than a predetermined level, the lower limbs exercise part 300 moves in a direction opposite to the moving direction of the user to increase a momentum. In one embodiment, the lower limbs exercise part 300 of the lower limbs rehabilitation exercise apparatus for curvilinear motion according to the present invention includes a footrest 310 configured to support feet of the user, a rail 320, and a fixing hinge 330. The lower limbs exercise part 300 is installed at a bottom of a side of the main frame 100.

For example, the footrest 310 is installed at the rail 320 to be freely moved, and the fixing hinge 330 is installed at one end of the rail 320 to be fixed on the bottom. When one side of the rail 320 may be move upward so that the footrest 310 is moved to one side of the rail 320, feet of the user may move in the form of a curve.

In another embodiment, the lower limbs rehabilitation exercise apparatus for curvilinear motion according to the present invention further includes a third driver 900 connected to the rail 320 to move the rail 320 upward and downward.

In another embodiment, the lower limbs rehabilitation exercise apparatus for curvilinear motion according to the present invention includes a pressing part 340 configured to press the feet of the user inside the footrest 310. In other words, the pressing part 340 may be locked with the footrest 310 to press the feet of the user which is placed on the footrest 310. The pressing part 340 may receive the footrest 310 allows the footrest 310 to generally receive various sizes and shapes of the feet.

Meanwhile, the footrest 310 may cover the feet of the user. Further, the footrest 310 may cover calves and thighs of the user. It may be preferred that respective members configuring the footrest 310 may be hinge-coupled with a main joint configuring the feet of the user.

For example, the pressing part 340 may include a pad formed by an elastic material to freely change a shape and a size of an inner space of the footrest 310. As another example, the pressing part 340 may be formed by a closed pocket, which is filled with gas or liquid therein.

In another embodiment, the pressing part 340 therein filled with the gas or the liquid may include a pressure controller 400 for injecting or exhausting gas or liquid so that a shape and a size of an inner space of the footrest 310 may be freely changed.

The chest support part 500 is disposed above an upper portion of the saddle part 200 to support the chest of the user. The chest support part 500 allows a user to lean the chest of the user thereto while sitting down the saddle part 200. The user may maintain a piggy back pose without configuring a separate support means for fixing an upper body of the user through the chest support part 500. Through the piggy back pose, the movement of the upper body is smooth so that auxiliary rehabilitation exercise such as balancing of a waist exercise may be performed.

In one embodiment, the chest support part 500 may include a chest support 510 configured to support the chest of the user. The chest support 510 allows the user to lean the chest while sitting down the saddle part 200.

Meanwhile, the chest support 510 may be installed at the saddle part 200. Further, the chest support 510 may be disposed at a position which allows the user to lean the chest of the user in various methods including a method of being installed at the main frame 100.

In another embodiment, the chest support part 500 may further include a chest guide 520. The chest guide 520 is configured to control a height of the chest support 510 so that the chest support 510 is located at various sizes and heights of the chest of the user. For example, the chest guide may be inserted into the main frame 100 to be freely moved. The user leans the chest to the chest support part 500 controlled in the height upon forward walking exercise.

Meanwhile, a column is further fixed on a bottom so that the chest support 510 may be inserted into the pillar. Moreover, the chest support 510 may be installed in various methods including a method of installing another pillar at the saddle part 200 upward so that the chest support 510 may be inserted into the pillar. To this end, the chest guide 520 may be disposed or formed at one side of the chest support 510. The chest guide 520 may have a protrusion or depression shape, and may be integrated or coupled with the chest support 510.

The lower limbs rehabilitation exercise apparatus for curvilinear motion may further include a connector 600 to connect the saddle part 200 with the chest support 510 so that the chest support part 500 is moved according to movement of the saddle part 200.

In one embodiment, the connector 600 may be configured by a pipe and both ends of the connector 600 may be fixed to the saddle guide 220 and the chest guide 520, respectively.

Meanwhile, the connector 600 may be configured by a line. The connector 600 configured by the line may perform only a function for pulling the saddle part 200 or the chest support part 500.

Meanwhile, in the lower limbs rehabilitation exercise apparatus for curvilinear motion, each of the saddle part 200 or the chest support part 500 includes an elastic member to attenuate shock occurring upon movement or to pull the saddle part 200 or the chest support part 500 in a configuration of the connector 600 configured by the line. In one embodiment, the elastic member is configured by a coil spring, and one end of the elastic member may be fixed to the frame 110 and an opposite end of the elastic member may be connected to the chest guide 520.

Meanwhile, the elastic member may be further included in the saddle guide 220.

Furthermore, in order to easily control a height or an angle of the saddle 210, the saddle 210 may be coupled with the saddle guide 220 in a hinge structure. Further, the chest support 510 may be coupled with the chest guide 520 in a hinge structure.

Hereinafter, the lower limbs rehabilitation exercise apparatus for curvilinear motion will be described in detail.

In one embodiment, the main frame 100 installed upward is configured by a pipe having a square shape and one end of the main frame 100 is fixed to a bottom. The main frame 100 is selectively installed therein with a saddle part 200, a chest support part 500, a handle, and a display unit to be described later. For example, the main frame 100 may have various shapes.

In another embodiment, the main frame 100 may include a hinge hole formed at a bottom end of the frame 110. The main frame 100 may further include a hinge shaft 120 spaced apart from the bottom. The hinge shaft 120 is inserted into a hinge hole so that a frame 110 is freely rotated. Further, the hinge shaft 120 is provided therein with a fixing part (not shown) capable of selectively fixing a rotated state of the frame 110. An upper portion of the frame 110 is rotated to advance and back up through the hinge shaft 120 so that the main frame 100 is changed in a height.

In another embodiment, the lower limbs rehabilitation exercise apparatus for curvilinear motion may further include a first driver 700 which is installed at one side of the main frame 100 to rotate the main frame 100. The first driver 700 is configured by a general cylinder and one side of the first driver 700 may be coupled with a bottom in a hinge structure. An opposite side of the first driver 700 may be coupled with a bottom end of the frame 110 installed therein with the hinge shaft 120 in a hinge structure. When the first driver 700 moves the bottom end of the frame 110 forward or rearward, a top end of the frame 110 moves forward and rearward so that a height of the frame 110 is changed to stop the first driver 700, thereby fixing the frame 100.

Meanwhile, the first driver 700 may be configured to advance or back up a shaft by rotation of a motor (not shown). Further, the first driver 700 may be configured in various methods including connecting a motor (not shown) to the hinge shaft 120.

A saddle part 200 is disposed at a front surface of the main frame 100 to support a hip of the user. In one embodiment, the saddle 210 may be fixed to a bottom to be disposed at a front surface of the main frame 100. The saddle part 200 prevents a weight of the user from being excessively transferred to lower limbs.

Meanwhile, the saddle 210 may be disposed at a front surface of the main frame 100 in various methods including being installed at the main frame 100.

Furthermore, when the saddle 210 is installed at the main frame 100, the saddle 210 may move forward by rotation of the main frame 100 to be reduced in height. The user may control the saddle 210 reduced in the height corresponding to a height of a hip when the user sits down a wheelchair and stands up by holding the main frame 100. That is, the user may perform the forward walking rehabilitation exercise.

The saddle part 200 may further include a saddle guide 220 inserted into the main frame 100 at an end of the saddle 210 supporting the hip of the user to be freely moved. The saddle guide 220 may include a hole having a diameter greater than a diameter of the frame 110 of the main frame 100. The saddle guide 220 may be inserted into the frame 110 and may be freely moved along the frame 110 to control a height of the saddle 210. It may be preferred that the saddle guide 220 further include a fixing part (not shown) for selectively fixing the saddle guide 220 to the frame 110.

In another embodiment, the saddle part 200 may further include a second driver 800 to advance and back up. The second driver 800 is configured by a general cylinder. One side of the second driver 800 may be installed at the saddle guide 220 and an opposite side of the second driver 800 may be installed at a position lower than an installation position of the saddle guide 220 at the frame 110. If the second driver 800 is operated to push a piston, the saddle guide 220 moves upward. As the saddle guide 220 is moved, the saddle 210 is moved upward. That is, since the second driver 800 may easily control the height of the saddle part 200, a height of the saddle 210 suitable for a body of the user and the saddle 210 may be exactly located at a height of a hip of the user using the wheelchair. Further, the user may conveniently perform the forward walking rehabilitation exercise.

Meanwhile, the second driver 800 may be installed in various methods including a method of fixing one side of the second driver 800 to a ground. Further, the second driver 800 may be connected with the saddle 210. Moreover, the second driver 800 may be variously configured similar to the first driver 700.

A lower limbs exercise part 300 disposed at a side of the main frame 100 to control the movement of feet of the user may include a rail 320 which is installed in parallel. The lower limbs exercise part 300 may include a footrest 310 to be installed on the rail 320 to be freely movable. One side of the rail 320 may be coupled with a fixing hinge 330 fixed to the bottom. The lower limbs exercise part 300 may selectively include a driver configured to move the footrest 310 or suppress of movement thereof. The lower limbs exercise part 300 is installed at a bottom of a lateral side of the main frame 100. When muscular strength of the lower limbs of the user is weak, the lower limbs exercise part 300 moves the footrest 310 in a moving direction of the user to help the exercise by low power. Conversely, the muscular strength of the lower limbs of the user is equal to or greater than a predetermined level, the lower limbs exercise part 300 moves in a direction opposite to the moving direction of the user so that the user perform the exercise by high power. In the lower limbs exercise part 300, the footrest 310 is moved along a straight line through a straight rail 320. One side of the rail 320 is moved upward by the fixing hinge 330 so that the footrest 310 is moved upward. That is, the footrest 310 is moved to an end of the rail 320 to allow movement in the form of a curve.

The lower limbs rehabilitation exercise apparatus for curvilinear motion may further include a third driver 900 fixed to the bottom at an end of a rail 320 in which the fixing hinge 330 is not installed to be operated upward. The third driver 900 may be variously configured similar to the first driver 700.

A pressing part 340 for pressing the feet of the user may be included inside the footrest 310 of the lower limbs exercise part 300. In one embodiment, the pressing part 340 may be formed by a closed pocket, which is filled with gas. Since the pressing part 340 may freely change a shape and a size of an inner space of the footrest 310, the pressing part 340 may generally receive various sizes and shapes of the feet.

Meanwhile, the pressing part 340 may include a pad formed by an elastic material. In addition, the pressing part 340 may be formed by a closed pocket, which is filled with liquid.

The pressing part 340 of the lower limbs exercise part 300 may further include a pressure controller 400 configured by a general pump to inject or exhaust gas or liquid. The pressure controller 400 may variously change an inner space of the footrest 310.

The chest support part 500 is located at an upper portion of the saddle part 200 to support a chest of the user and allows a user to lean the chest of the user thereto while sitting down the saddle part 200. The chest support part 500 may include a chest support 510 to support the chest of the user. The chest support 510 is installed at a frame 110 of the main frame 100, which may be located at an upper portion of the saddle 200. The chest support 510 allows the user to maintain a piggy back pose without configuring a separate support means for fixing an upper body of the user. Through the piggy back pose, movement of the upper body is smooth so that auxiliary rehabilitation exercise of a waist exercise may perform such as balancing may be performed.

Meanwhile, the chest support 510 may be disposed at a position to which the chest of the user leans in various methods including a method of being installed at the saddle part 200.

The chest support part 500 may further include a chest guide 520. The chest guide 520 may include a hole having a diameter greater than a diameter of the frame 110 of the main frame 100. The chest guide 520 may be inserted into the frame 110 and may be freely moved along the frame 110 to control a height of the chest support 510. It may be preferred that the chest guide 520 further include a fixing part (not shown) for selectively fixing the chest guide 520 to the frame 110. The user may lean the chest to the chest support part 500 controlled in the height upon forward walking exercise. The user may use the lower limbs rehabilitation exercise apparatus for curvilinear motion according to the present invention by only an upper body. When the user sitting down changes a walking pose, the chest support part 500 is changed corresponding to the change in the height of the chest of the user.

A connector 600 for connecting the saddle part 200 with the chest support part 500 to move the chest support part 500 according to movement of the saddle part 200 may be configured by a pipe to be provided therein with both ends fixed to the saddle guide 220 and the chest guide 520, respectively.

Meanwhile, the connector 600 may be configured by a line. The connector 600 configured by the line may perform only a function for pulling the saddle part 200 or the chest support part 500.

The saddle part 200 or the chest support part 500 of the lower limbs rehabilitation exercise apparatus for curvilinear motion according to the present invention further includes an elastic member. The elastic member may attenuate shock occurring during movement or push the saddle part 200 or the chest support part 500 in a configuration of the connector 600 configured by the line. The elastic member is configured by a coil spring. One end of the elastic member may be fixed to the frame 110, and an opposite end of the elastic member may be connected to the chest guide 520.

Meanwhile, the elastic member may be further in the saddle guide 220.

In order to easily control a height or an angle of the saddle 210 of the lower limbs rehabilitation exercise apparatus for curvilinear motion according to the present invention, the saddle 210 may be coupled with the saddle guide 220 in a hinge structure. Further, the chest support 510 may be coupled with the chest guide 520 in a hinge structure.

Meanwhile, the lower limbs rehabilitation exercise apparatus for curvilinear motion according to the present invention may further include a pressure sensor or a contact sensor configured to detect movement of the feet of the user. Further, a handle (not shown) may further be installed therein with various sensors including a pressure sensor or a contact sensor capable of detecting movement of hands of the user and may detect full movement of the user.

An operation of the sensor is illustrative purpose only as follows. The lower limbs rehabilitation exercise apparatus for curvilinear motion may further include a pressure sensor (not shown) disposed at the footrest 310 to detect pressure applied the footrest 310 by feet of the user placed on the footrest; a second driver 800 connected with the saddle part 200 to control a height of the saddle part 200; and a controller (not shown) configured to determine whether the user sits down the saddle part 200, to compare the pressure detected from the pressure sensor with a reference value to determine whether the user prepares a standing operation, and to raise the saddle part 200 by controlling the second driver 800 to assist the standing operation of the user.

The saddle part 200 may be disposed therein with an additional pressure sensor. The additional pressure sensor detects whether or not the user sits down the saddle part 200 from the applied pressure when the user puts a hip on the saddle part 200. The reference value may be previously stored in a database based on a height, a weight, right lower limbs paralysis, left lower limbs paralysis, and both sides lower limbs paralysis of a user using the lower limbs rehabilitation exercise apparatus for curvilinear motion according to the present invention to be managed. The user using the lower limbs rehabilitation exercise apparatus for curvilinear motion according to the present invention may input a height, a weight, and a lower limbs region with paralysis symptom through a display unit (not shown). The controller detects whether the user puts the hip on the saddle part 200 from the additional pressure sensor, and then compares information input by the user and pressure detected by the pressure sensor disposed on the footrest 310 with a reference value to determine whether the user prepares the standing operation. In this case, when it is determined that the user prepares the standing operation, the controller raise the saddle part 200 by controlling the second driver 800 to assist the standing operation of the user.

The lower limbs rehabilitation exercise apparatus for curvilinear motion according to the present invention may further include a display unit disposed at a rear surface of the frame 110 of the main frame 100 so that boring may be reduced during rehabilitation exercise of the user. Further, the lower limbs rehabilitation exercise apparatus for curvilinear motion according to the present invention may cooperate with software such as games or rehabilitation exercise schemes by sharing data detecting the movement of the user in connection with the display unit.

Hereinafter, a configuration of the lower limbs rehabilitation exercise apparatus for curvilinear motion according to the present invention will be described reference to various embodiments.

Embodiment 1 describes the lower limbs rehabilitation exercise apparatus for curvilinear motion including a main frame 100, a saddle part 200, and a lower limbs exercise part 300. The main frame 100 includes a frame 110 fixed on a bottom thereof and includes a handle (not shown). The saddle part 200 includes a saddle 210 which is fixed to a front bottom of the main frame 100. The lower limbs exercise part 300 configured by a footrest 310, a rail 320, and a fixing hinge 330 is fixed to a lateral bottom of the main frame 100 so that the lower limbs rehabilitation exercise apparatus for curvilinear motion according to the present invention is completed.

The completed lower limbs rehabilitation exercise apparatus for curvilinear motion according to the present invention allows a user to sit down the saddle part 200, and puts feet on a footrest 310 of the lower limbs exercise part 300 and operates the lower limbs exercise part 300 to perform lower limbs rehabilitation exercise. In this case, when the user stretches the feet forward while folding the feet upon real walking, one side of the rail 320 is moved upward by the fixing hinge 330 so that the footrest 310 is changed to an inclined state by a fixing hinge 330. Further, the footrest 310 is moved along the inclined rail 320. That is, the rail 320 is moved upward by a straight rail 320 and the fixing hinge 330 so that the footrest 310 is inclined and moved in the form of an upward curve.

As described above, the feet of the user may perform waling rehabilitation exercise due to the same curve movement as movement of the feet upon real walking by the rail 320 one side of which is inclined upward. Further, the ankles of the user may be prevented from being bent.

Meanwhile, a third driver 900 may be further included at an opposite side of the rail 320 which is not fixed to the fixing hinge 330.

The completed lower limbs rehabilitation exercise apparatus for curvilinear motion according to the present invention may control upward and downward movement of the footrest 310.

A configuration of embodiment 2 is identical to a configuration of the embodiment 1, and the main frame 100 is configured therein with a frame 110 to be freely rotated by a hinge shaft 120, and includes a handle (not shown). The saddle 200 is completed by installing a saddle 210 at the main frame 100. Meanwhile, a detailed description of the lower limbs exercise part 300 described in the embodiment 1 is omitted in the present embodiment.

If the user rotates the frame 110 of the main frame 100 in the completed lower limbs rehabilitation exercise apparatus for curvilinear motion according to the present invention, a saddle 210 of the saddle part 200 installed at the frame 110 is moved in a forward direction of the main frame 100 so that a height of the saddle 210 is reduced. In this case, after the user puts legs on the saddle 210 while riding on a wheelchair, the user may sit down the saddle 210 while pulling the frame 110. In this case, the user may take a standing pose, that is, a forward walking pose. Next, the user moves an upper forward to move the frame 110 rearward. After that, the user may put the feet on the footrest 310 of the lower limbs exercise part 300 and operate the lower limbs exercise part 300 to perform lower limbs rehabilitation exercise.

As described above, the user can use the lower limbs rehabilitation exercise apparatus for curvilinear motion according to the present invention through a freely rotated main frame 100. Further, since the user may perform forward walking rehabilitation exercise through the freely rotated main frame 100 and the saddle part 200, the user can perform the forward walking rehabilitation exercise through repetition.

A configuration of embodiment 3 is identical to the configuration of the embodiment 2. A first driver 700 configured by a cylinder is further installed at a bottom end of a frame 110 in which a hinge shaft 120 is installed so that the embodiment 3 is completed. Meanwhile, a detailed description of a lower limbs exercise part 300 described in the embodiment 1 and the main frame 100 and the saddle part 200 described in the embodiment 2 is omitted in the present embodiment.

If the first driver 700 is operated, a bottom end of the frame is pushed by an advancing piston so that the frame 110 is rotated forward. Moreover, if the piston backs up, the frame 110 is rotated rearward.

As described above, the user may conveniently use the lower limbs rehabilitation exercise apparatus for curvilinear motion according to the present invention through wired/wireless operations of a first driver 700.

A configuration of embodiment 4 is identical to the configuration of the embodiment 1. The lower limbs rehabilitation exercise apparatus for curvilinear motion according to the present invention including a lower limbs exercise part 300 with a pressing part 340 is described. Meanwhile, a detailed description of the main frame 100 and the saddle part 200 described in the embodiment 1 is omitted in the present embodiment.

The pressing part 340 filled with air is installed inside the footrest 310 of the lower limbs exercise part 300 so that the lower limbs rehabilitation exercise apparatus for curvilinear motion according to the present invention is completed.

The completed lower limbs rehabilitation exercise apparatus for curvilinear motion according to the present invention allows a user to sit down the saddle part 200, and puts feet on a footrest 310 of the lower limbs exercise part 300 and operates the lower limbs exercise part 300 to perform lower limbs rehabilitation exercise.

As described above, feet of the user is stably fixed to the footrest 310 by air pressure of the pressing part 340. Further, the lower limbs rehabilitation exercise apparatus for curvilinear motion according to the present invention may be generally used in various shapes or sizes of the feet.

Meanwhile, the pressing part 340 of the present embodiment is limited for the purpose of easy description of the present invention, and may be combined with configurations of the above embodiments according to the present invention.

In addition, when the pressing part 340 of the present embodiment is combined with the embodiment 2 or the embodiment 3, the feet of the user may be stably fixed to the footrest 310 so that the user may exactly take the forward walking pose.

Embodiment 5 describes a lower limbs rehabilitation exercise apparatus for curvilinear motion further including the pressure controller 400 from the configuration of the embodiment 4. Meanwhile, a detailed description of the lower limbs exercise part 300 described in the embodiment 1 and the main frame 100, the saddle part 200, and the pressing part 340 described in the embodiment 3 is omitted in the present embodiment.

The pressure controller 400 configured by a pump is connected to the pressing part 340 in the embodiment 4 so that the embodiment 5 is completed.

If external air is injected into the pressing part 340 by an operation of the pressure controller 400, the pressing part 340 is expanded to press the feet of the user. In this case, even if the size of the feet of the user is very smaller than the size of an inner space of the footrest 310, the feet of the user are stably fixed by the pressing part 340 expanded. To the contrary, if the internal air of the pressure part 340 is exhausted to the outside, the pressing part 340 is constricted so that the size of the inner space of the footrest 310 is reduced.

As described above, various users may use the embodiment 4 through the pressure controller 400. The user may stably fix the feet on the footrest 310 of the lower limbs exercise part 300 through the pressure controller 400.

Meanwhile, the pressure controller 400 of the present embodiment is limited for the purpose of easy description of the present invention, and may be combined with configurations of the above embodiments according to the present invention.

A configuration of embodiment 6 is identical to the configuration of the embodiment 1. Embodiment 5 describes a lower limbs rehabilitation exercise apparatus for curvilinear motion further including a chest support part 500 from the configuration of the embodiment 4. Meanwhile, a detailed description of the main frame 100, the saddler part 200, and the lower limbs exercised part 300 described in the embodiment 1 is omitted in the present embodiment. The chest support part 500 is installed at a frame 110 at an upper portion of the saddle part 200 so that the embodiment 6 is completed.

The completed lower limbs rehabilitation exercise apparatus for curvilinear motion according to the present invention allows a user to sit down the saddle part 200, and puts feet on a footrest 310 of the lower limbs exercise part 300 and operates the lower limbs exercise part 300 to perform lower limbs rehabilitation exercise. In this case, since only a front surface of a chest is supported by a chest support 510 of the chest support part 500, the user may freely move an upper body in right and left directions.

Meanwhile, when the user sits down the saddle part 200 or leans to the chest support part 500, the user operates the lower limbs exercise part 300. In this case, the user may perform a forward walking rehabilitation exercise by sit and stand up operation.

As described above, since only a front surface of the chest of the user is supported by the chest support part 500, the user may move a pelvis and a waist or an upper body similar to movement of real walking to perform a walking rehabilitation exercise by movement of real walking. Further, the user may perform other rehabilitation exercise such as waist twist by the chest support part 500.

Meanwhile, the chest support part 500 of the present embodiment is limited for the purpose of easy description of the present invention, and may be combined with configurations of the above embodiments according to the present invention.

In addition, since the chest of the user is supported by the chest support part 500 when the chest support part 500 is combined with the embodiment 2 or the embodiment 3, the user may stably ride and use the lower limbs rehabilitation exercise apparatus for curvilinear motion according to the present invention.

Meanwhile, FIG. 6 shows another embodiment. Referring to FIG. 6, the above rail 320 may be formed as a curve. In this case, the above footrest 310 may be moved along a curve of the rail 320.

As described above, various embodiment of the disclosed is illustrative purpose only, it should be understood that numerous other modifications and embodiments can be devised by those skilled in the art that will fall within the spirit and scope of the principles of this disclosure. Various embodiments of the disclosure do not limit the technical idea and scope of the principles of the present invention. The sprit and scope of the disclosure come within the scope of the appended claims and their equivalents. 

What is claimed is:
 1. A lower limbs rehabilitation exercise apparatus for curvilinear motion comprising: a main frame installed in an upward direction; a saddle part disposed at a front surface of the main frame to support a hip of a user; and a lower limbs exercise part disposed at a side of the main frame to control feet of the user to perform the curvilinear motion.
 2. The lower limbs rehabilitation exercise apparatus for curvilinear motion of claim 1, wherein the lower limbs exercise part comprises: a footrest on which the feet of the user put; a rail installed therein with the footrest to be freely moved; and a fixing hinge configured to fix one end of the rail hinge-fixed to a bottom.
 3. The lower limbs rehabilitation exercise apparatus for curvilinear motion of claim 2, further comprising a third driver fixed to the bottom and connected with the rail to move the rail in upward and downward directions.
 4. The lower limbs rehabilitation exercise apparatus for curvilinear motion of claim 1, wherein the main frame comprises: a hinge shaft spaced apart from a bottom; and a frame installed upward and including a bottom end hinge-fixed to the hinge shaft.
 5. The lower limbs rehabilitation exercise apparatus for curvilinear motion of claim 1, further comprising a first driver installed at the main frame to rotate the main frame.
 6. The lower limbs rehabilitation exercise apparatus for curvilinear motion of claim 1, wherein the lower limbs exercise part comprises: a footrest configured to support the feet of the user; and a pressing part disposed at the footrest to press the feet of the user placed on the footrest.
 7. The lower limbs rehabilitation exercise apparatus for curvilinear motion of claim 6, further comprising: a pressure sensor disposed at the footrest to detect pressure applied by the feet of the user placed on the footrest; a second driver connected with the saddle part to control a height of the saddle part; and a controller configured to determine whether the user sits down the saddle part, to compare the pressure detected from the pressure sensor with a reference value to determine whether the user prepares a standing operation, and to raise the saddle part by controlling the second driver to assist the standing operation of the user.
 8. The lower limbs rehabilitation exercise apparatus for curvilinear motion of claim 6, wherein the pressing part is filled with gas or liquid.
 9. The lower limbs rehabilitation exercise apparatus for curvilinear motion of claim 1, further comprising a chest support part located above the saddle part to support a chest of the user.
 10. The lower limbs rehabilitation exercise apparatus for curvilinear motion of claim 9, further comprising a connector configured to connect the saddle part with the chest support part to move the chest support part according to movement of the saddle part. 